WO2020175176A1 - Dispositif et procédé de traitement d'informations et dispositif et procédé de reproduction - Google Patents

Dispositif et procédé de traitement d'informations et dispositif et procédé de reproduction Download PDF

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Publication number
WO2020175176A1
WO2020175176A1 PCT/JP2020/005726 JP2020005726W WO2020175176A1 WO 2020175176 A1 WO2020175176 A1 WO 2020175176A1 JP 2020005726 W JP2020005726 W JP 2020005726W WO 2020175176 A1 WO2020175176 A1 WO 2020175176A1
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point cloud
unit
frame
voxelization
processing
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PCT/JP2020/005726
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English (en)
Japanese (ja)
Inventor
加藤　毅
智 隈
央二 中神
幸司 矢野
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ソニー株式会社
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Publication of WO2020175176A1 publication Critical patent/WO2020175176A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/10—Constructive solid geometry [CSG] using solid primitives, e.g. cylinders, cubes

Definitions

  • the present disclosure relates to an information processing device and method, and a reproducing device and method, and more particularly to an information processing device and method capable of suppressing reduction of subjective image quality, and a reproducing device and method. ..
  • a point cloud that represents the object by a point cloud has been considered (for example, see Non-Patent Document 1). Then, as a method of reducing the point cloud of the point cloud (suppressing an increase in the amount of data), it was considered to use voxel to quantize the position information of the point cloud. The amount of data can be reduced by performing voxelization so as to reduce the point cloud (that is, reduce the resolution).
  • this point cloud has also been considered to use this point cloud to represent an object as a dynamic point cloud in a predetermined time range, such as a moving image in a two-dimensional image.
  • a method has been considered in which an object is 3D-captured at predetermined time intervals and the object at each time is represented by a static point cloud (for example, see Non-Patent Document 2).
  • a dynamic point cloud representation since a plurality of static point cloud representations are formed, the amount of data in the point cloud is larger than that in the case of a static point cloud representation such as a two-dimensional still image. Will increase. Therefore, it becomes more important to create voxels that suppress the increase in data volume as described above.
  • Non-Patent Document 1 Eugene d'Eon, Bob Harrison, Taos Myers and Phi Lip A. Cho u, “8i Voxe L i zed Full Bodies-A Voxe L i zed Point C Loud Dataset”, ISO/I EC JTC1/SC29/WG11 m40059, ISO/IEC JTC1/SC29/WG1 M74006, January 2017, ⁇ 0 2020/175 176 2 (: 17 2020/005726
  • Non-Patent Document 2 "Ca U for Proposa ls for Point C loud Compress i on V2", ISO /IEC JTC1 /SC29/WG1 1 MPEG2017/N16763, Apr i l 2017, Hobart, AU
  • the voxelization determines the maximum resolution of the point cloud during reproduction. For example, if the resolution is reduced by the voxelization, that resolution becomes the highest resolution, and it was difficult to restore the original resolution during playback. In this way, the voxelization could reduce the subjective image quality of the point cloud of the user (viewer) who views the image of the point cloud.
  • the present disclosure has been made in view of such circumstances, and it is possible to suppress reduction in the subjective image quality of a point cloud of a viewer.
  • An information processing apparatus is that a point cloud that represents a three-dimensional object as a dynamic point cloud in a predetermined time range is represented by a static point cloud expression in the time range.
  • the information processing apparatus includes a voxelizing unit that voxels the voxel grid corresponding to the frame for each frame.
  • An information processing method is that a point cloud that represents a three-dimensional object as a dynamic point cloud in a predetermined time range is represented by a static point cloud expression in the time range.
  • This is an information processing method in which voxel grids corresponding to the frames are used to form voxels for each frame.
  • a playback device is a frame that is a static point cloud representation in the time range of a point cloud that represents a three-dimensional object as a dynamic point cloud in a predetermined time range.
  • the reproducing apparatus includes a merge processing unit that generates a merge frame and a reproducing unit that reproduces the merge frame generated by the merge processing unit.
  • a reproduction method is a frame that is a static point cloud representation in the time range of a point cloud that represents a three-dimensional object as a dynamic point cloud in a predetermined time range.
  • the method is a reproducing method for generating a merge frame by merging a plurality of voxelized frames using different voxel grids, and reproducing the generated merge frame.
  • a point cloud that represents an object of a three-dimensional shape as a dynamic point cloud in a predetermined time range is static in that time range. For each frame that is a point cloud representation, it is made into a voxel using the voxel grid corresponding to the frame.
  • a static point cloud of a point cloud that represents a three-dimensional object as a dynamic point cloud in a predetermined time range is provided.
  • a frame that is an expression, and a merge frame is generated by merging a plurality of voxelized frames using different voxel grids, and the generated merge frame is reproduced.
  • FIG. 1 is a diagram illustrating an example of voxelization.
  • Fig. 2 is a diagram illustrating a control example of a voxel grid.
  • Fig. 3 is a diagram illustrating a control example of a voxel grid.
  • FIG. 4 is a diagram illustrating an example of merging.
  • FIG. 5 is a diagram illustrating an example of voxel grid control.
  • FIG. 6 is a diagram illustrating an example of merging.
  • FIG. 7 is a block diagram showing a main configuration example of a voxelization processing device.
  • FIG. 8 is a flow chart explaining an example of the flow of voxelization processing.
  • FIG. 9 is a block diagram showing another configuration example of the voxelization processing device. ⁇ 2020/175176 4 ⁇ (:171? 2020 /005726
  • FIG. 10 is a flowchart explaining another example of the flow of voxelization processing.
  • FIG. 11 is a block diagram showing still another configuration example of the voxelization processing device.
  • FIG. 12 is a flow chart for explaining still another example of the voxelization process flow.
  • FIG. 13 is a block diagram showing still another configuration example of the voxelization processing device.
  • FIG. 14 A flowchart for explaining still another example of the voxelization process flow.
  • FIG. 15 is a block diagram showing a main configuration example of a playback device.
  • FIG. 16 is a flowchart explaining an example of the flow of reproduction processing.
  • FIG. 17 is a block diagram showing a main configuration example of a transmission device.
  • FIG. 18 is a flowchart explaining an example of the flow of transmission processing.
  • FIG. 19 is a block diagram showing a main configuration example of a storage device.
  • FIG. 20 is a block diagram showing another configuration example of the reproducing device.
  • FIG. 21 is a flowchart explaining another example of the flow of the reproduction process.
  • FIG. 22 is a block diagram showing still another configuration example of the reproducing device.
  • FIG. 23 is a block diagram showing still another configuration example of the reproducing device.
  • FIG. 24 A flowchart for explaining still another example of the flow of the reproduction process.
  • FIG. 25 is a block diagram showing an example of the main configuration of a computer.
  • Non-Patent Document 1 (described above)
  • Non-Patent Document 2 (described above)
  • Non-Patent Document 1 or Non-Patent Document 2 are not directly described in the embodiment, it is within the disclosure range of the present technology and satisfies the support requirement in the claims. .. Similarly, for example, even if technical terms are not directly described in the embodiments, they are within the disclosure range of the present technology and satisfy the support requirements in the claims.
  • a point cloud (Po i nt c loud) that represents an object by a point cloud has been considered as a method of expressing an object (three-dimensional structure) of a three-dimensional shape.
  • an elliptical object 11 such as A in Fig. 1 is represented as a point cloud 12 that is distributed in a similar elliptical form like B in Fig. 1.
  • point cloud data (also called point cloud data) is composed of position information and attribute information of each point 12 A of this point cloud 12.
  • the attribute information includes, for example, color information, reflectance information, normal line information, and the like.
  • the point cloud has a relatively simple data structure and can represent an arbitrary object with sufficient accuracy by using a sufficient number of points.
  • the point 1 2 A can be placed at any position in the target 3D space. ⁇ 2020/175176 6 ⁇ (:171? 2020/005726
  • a method of quantizing the position information of the point cloud by converting the point cloud into voxels has been considered. For example, a three-dimensional space is divided into small areas (also called voxels) of a predetermined size, and points 1228 (positional information and attribute information) representing the object 11 are formed for each voxel. That is, one point (positional information and attribute information) is formed in each voxel including the object 1 1. For each voxel that does not contain object 1 1 0 points are formed (no points are formed). For example, in a two-dimensional manner, a voxel 13 is formed in the region where the object 11 exists as shown by ⁇ in Fig.
  • each voxel 13 includes the object 11 1.
  • the object 1 1 is expressed as a point cloud 14 by forming points 14 (positional information and attribute information) on the voxels 13 including the objects 11 1.
  • the point group 12 is searched for a point 1228 included in each poxel 13 and the point 128 of each poxel 13 is searched based on the included point 1228. 4 eight is generated.
  • the position of the point 14 can be any position within that voxel 13.
  • the position of the point 148 may be the center of the voxel 13 (center in each direction of (X,) / ).
  • the distribution density of the point group 14 can be made uniform.
  • the positional information has regularity, so that it is possible to suppress a reduction in data compression efficiency.
  • the number of points can be reduced (that is, the resolution can be reduced). Therefore, the increase in the amount of data can be suppressed more easily.
  • this point cloud to represent an object as a dynamic point cloud in a predetermined time range, such as a moving image in a two-dimensional image.
  • a predetermined time range such as a moving image in a two-dimensional image.
  • 30 objects are captured at predetermined time intervals, and objects at each time are converted into static point clouds. ⁇ 2020/175176 7 ⁇ (:171? 2020/005726
  • a point cloud that expresses the movement of a talented object within a predetermined time range like a moving image of a two-dimensional image
  • a point cloud of a dynamic point cloud expression is also referred to as a point cloud of a dynamic point cloud expression.
  • a point cloud that represents the shape of an object at a given time such as a two-dimensional still image
  • a point cloud that is a static point cloud representation that represents the shape of an object at a given time in that time range in a point cloud that is a dynamic point cloud representation is also called a frame (or point cloud frame).
  • the point cloud of the dynamic point cloud representation is composed of multiple frames with a predetermined time interval (a point cloud of multiple static point cloud representations), as in the case of a moving image of a two-dimensional image. Shall be configured.
  • a moving image composed of a plurality of frames has a larger amount of data than a still image.
  • the point cloud of the dynamic point cloud representation is composed of multiple frames, so the amount of data increases compared to the point cloud of the static point cloud representation.
  • the load when processing the point cloud is larger in the dynamic point cloud representation than in the static point cloud representation.
  • the storage capacity required to store a point cloud is larger in a dynamic point cloud representation point cloud than in a static point cloud representation point cloud. Therefore, in the case of a point cloud with a dynamic point cloud representation, voxelization that suppresses the increase in data volume becomes more important.
  • the voxelization is an irreversible process, there is a possibility that the maximum resolution of the point cloud at the time of reproduction may be determined by the voxelization. That is, for example, when the point cloud is voxelized to reduce the resolution for processing and storage, the resolution is set to a resolution equal to or higher than the resolution corresponding to the voxel size during playback (for example, the resolution before the voxel is restored). Things were difficult. In this way, the voxelization of the point cloud creates a subjective image of the viewer. ⁇ 2020/175176 8 ⁇ (: 171-1? 2020/005726
  • the position of the grid (also called the poxel grid) indicating the division of each poxel when dividing the three-dimensional space into voxels is controlled for each frame of the point cloud of the dynamic point cloud representation.
  • a voxel corresponding to that frame Use grids to create voxels.
  • a point cloud that represents a three-dimensional object as a dynamic point cloud in a predetermined time range is displayed for each frame that is a static point cloud expression in the time range.
  • the voxel grid that corresponds to the frame should be used to provide the voxelization part.
  • each frame of the point cloud may be voxelized using a voxel grid at a position corresponding to the frame.
  • voxels can be made into voxels by using the voxel grid at the position set for each frame. Therefore, it is possible to create a voxelized point cloud with a dynamic point cloud representation using poxel grids set at multiple positions. As a result, it is possible to suppress the reduction in the subjective image quality of the point cloud of the viewer.
  • each frame of the point cloud may be voxelized by alternately using poxel grids at two types of positions.
  • the voxel grid 1 0 1 is set for the first frame (F rame#0) of the point cloud of the dynamic point cloud representation, and the first frame (F rame#0) is set.
  • the point cloud of (0) is voxelized using its voxel grid 1 0 1.
  • the voxel grid 1 0 2 is set for the second frame (F rame#1) of the point cloud, and the second frame (F rame#1) of the second frame (F rame#1) is set.
  • the point cloud is voxelized using its voxel grid 10 2.
  • the voxel grid 10 1 and the voxel grid 10 2 are displaced from each other as shown in C of FIG. Therefore, even if the same point cloud is voxelized, the position of the point cloud after voxelization will be different between the first frame (F rame#0) and the second frame (F rame#1 ). ..
  • the voxel grid 1 0 1 and the voxel grid 1 0 2 are sequentially and repeatedly applied to the third and subsequent frames. That is, the point cloud of each frame is voxelized by alternately using voxel grids at two different positions. In other words, the poxel grid 1 0 1 is applied to the odd-numbered frame and the poxel grid 1 0 2 is applied to the even-numbered frame.
  • the odd-numbered frame is voxelized using the voxel grid 1 0 1, as shown in A of FIG.
  • points 1 1 1 are generated at the center of each voxel containing the letter S, and the point cloud with the distribution shown in B of Fig. 3 is obtained.
  • even-numbered frames are voxelized using voxel grids 10 2 as shown in Figure 3C.
  • points 1 1 2 are generated at the center of each voxel containing the letter S, and the point cloud with the distribution shown in D of Fig. 3 is obtained.
  • the direction and magnitude of the difference (positional deviation) between the positions of the poxel grid 10 1 and the poxel grid 10 2 are arbitrary.
  • the direction and magnitude of the positional deviation may be set based on a predetermined condition such as a direction that is often displayed.
  • the misalignment between poxel grids can be set to any direction and size in the three-dimensional space.
  • the voxel grid 1 0 1 and voxel grid 1 0 2 appear to be offset from each other by half the voxel size in each direction of X, (three directions perpendicular to each other) in space.
  • a merged frame may be generated by merging a plurality of voxelized frames using the merged frame, and the generated merged frame may be reproduced.
  • a point cloud is a static point cloud representation of a point cloud that represents a three-dimensional object as a dynamic point cloud in a given time range.
  • a merge processing unit that generates a merge frame by merging a plurality of voxelized frames that are different frames with different voxel grids, and a merge frame generated by the merge processing unit.
  • a reproducing unit for reproducing may be provided.
  • merge frame 1 2 1 When reproducing such a point cloud, two consecutive frames that have been voxelized using different poxel grids are merged (also referred to as synthesis or merging), and shown in the lower part of Fig. 4. Generate a merge frame 1 2 1 like
  • the point group of merge frame 1 2 1 — 1 shown in Fig. 4 is This is a merge of the group and the point group of F rame# 1.
  • the point cloud of merge frame 1 2 1 — 2 is a merge of the point cloud of F rame#1 and the point cloud of F rame#2.
  • the point cloud of the merge frame 1 2 1 _ 3 is a merge of the point cloud of F rame#2 and the point cloud of F rame#3. When it is not necessary to describe each merge frame separately, they are referred to as merge frame 1 2 1.
  • the upper frame of FIG. 4 may be used for processing other than display, and the lower merge frame 1 2 1 of FIG. 4 may be used only during display. By doing so, it is possible to suppress the reduction in the subjective image quality of the viewer of the point cloud while suppressing the increase in the load in the processing other than display and the increase in the required storage capacity (typically Can improve subjective image quality).
  • the merge frame 1 2 1 may be used for processing other than display. That is, by applying the merge frame 1 2 1, it is possible to improve the resolution of the point cloud in processing other than display.
  • each frame of the point cloud may be made into a voxel by sequentially and repeatedly using the voxel grids at a plurality of types of positions.
  • a point cloud of a certain continuous 3 frames is applied as a voxel by applying poxel grids at three different positions, and the point cloud of the next continuous 3 frames is similarly processed.
  • the voxel grid 1 3 1 is set to the first frame (F rame#0) of the point cloud of the dynamic point cloud representation, and the first frame (F rame#0) is set to it.
  • the point cloud of rame#0) is voxelized using its voxel grid 1 3 1.
  • the voxel grid 1 3 2 is set for the second frame (F rame#1) of the point cloud, and the second frame (F rame#1) is set.
  • the point cloud of is voxelized using the voxel grid 1 3 2.
  • the voxel grid 1 3 3 is set to the third frame (F rame#2) of the point cloud, and the third frame (F rame#2) is set. ) Is voxelized using its voxel grid 1 3 3.
  • the voxel grid 1 3 1 to the voxel grid 1 3 3 are displaced from each other as shown in D of FIG. Therefore, even if the same point cloud is voxelized, the voxelization is performed in the first frame (F rame#0), the second frame (F rame#1), and the third frame (F rame#2).
  • the positions of the point cloud of are different from each other.
  • the voxel grid 1 3 1 to the voxel grid 1 3 3 are sequentially and repeatedly applied to the fourth and subsequent frames.
  • the point cloud of each frame is made into a voxel by sequentially and repeatedly using the voxel grids at three different positions.
  • Can typically can improve subjective image quality
  • the direction and magnitude of the position difference (positional deviation) of 2 are arbitrary.
  • the direction and magnitude of the positional deviation may be set based on predetermined conditions such as the direction that is often displayed.
  • the misalignment between poxel grids can be set to any direction and size in the three-dimensional space.
  • the voxel grids 1 3 1 to voxel grids 1 3 3 should be offset from each other by one-third of the voxel size in each direction of X, (three directions perpendicular to each other) of the space. May be. That is, each frame of the point cloud is sequentially repeated in each of the X and X directions of the space, with the voxel size being different from each other by one of the number of types of voxel grid positions. You may make it into a voxel.
  • a plurality of voxelized frames may be merged (1116 “96”) using different poxel grids.
  • the point cloud of the merge frame 1 4 1 — 1 shown in Fig. 6 is a merge of the point cloud of “81116#0” to the point cloud of “81116#2”.
  • the points of the merge frame 1 4 1 — 2 The group is a merge of the point clouds of “81116#1” to the point cloud of “81116#3”.
  • the point cloud of merge frame 1 4 1 — 3 is the point cloud of “81116#2”.
  • the point cloud of 81116#4 is merged.
  • the point cloud of the merge frame 1 4 1 —4 is a merge of the point cloud of “81116#3” to the point cloud of “81116#5”.
  • the upper frame of FIG. 6 may be used for processing other than display, and the lower merge frame 1 41 of FIG. 6 may be used only during display. By doing so, it is possible to suppress the reduction in the subjective image quality of the viewer of the point cloud while suppressing the increase in the load in the processing other than display and the increase in the required storage capacity (typically Can improve subjective image quality).
  • the merge frame 1 41 may be used for processing other than display. That is, by applying the merge frame 1 41, it is possible to improve the resolution of the point cloud even in processing other than display.
  • the position of the voxel grid is set for each frame, but the position is not limited to the position, and an arbitrary parameter regarding the voxel grid may be set.
  • the size and shape of the poxel grid may be set.
  • FIG. 7 is a block diagram showing an example of the configuration of a voxelization processing device that is an aspect of an information processing device to which the present technology is applied.
  • the voxelization processing device 200 shown in FIG. 7 is a device that voxels the input point cloud.
  • the voxelization processing apparatus 200 has a voxel grid control section 20 1 and a voxelization section 20 2.
  • the voxel grid control unit 201 performs processing related to voxel grid control applied to voxelization.
  • the voxel grid control unit 201 controls the voxelization unit 202, and sets the voxel grid to be applied to each frame in the voxelization performed by the voxelization unit 202.
  • the poxel grid control unit 201 can also output the poxel grid information, which is information related to (setting of) the poxel grid, to the outside of the poxelization processing device 200.
  • This poxel grid information may include arbitrary information. For example, information indicating the number of types of voxel grids to be applied may be included. Also, information indicating the parameters of the voxel grid to be controlled may be included. Of course, information other than these may be included.
  • the voxelization unit 202 performs processing related to voxelization. For example, it acquires the point cloud data supplied from the outside of the former processing unit or the voxelization processing apparatus 200. Further, for example, the voxelization unit 202 converts each frame of the acquired point cloud data into voxels using the voxel grid set by the voxel grid control unit 201. The voxelization unit 200 2 supplies the voxelized point cloud data to the outside of the subsequent processing unit or the voxelization processing device 200.
  • the poxel grid control unit 201 controls the points of each point cloud that represent a three-dimensional object as a dynamic point cloud in a predetermined time range.
  • the voxelization unit 202 is a static point cloud representation of a point cloud that represents a 3D object as a dynamic point cloud in a given time range based on the settings. For each frame, the voxel grid corresponding to the frame is used to create a voxel.
  • the voxelization unit 202 can apply each technique described in ⁇ 1. Control related to voxelization>.
  • the voxelization unit 202 may be configured to voxel each frame of the point cloud using the voxel grid at the position corresponding to the frame.
  • the pixelization unit 202 may make each frame of the point cloud into a pixel by sequentially and repeatedly using the pixel grids of a plurality of types of positions.
  • the positions of multiple types of the voxel grid may be shifted in the X, y, and z directions of the space by one of the number of types of the position of the voxel grid, which is the voxel size. ..
  • the voxelization unit 202 may voxelize each frame of the point cloud by alternately using voxel grids at two types of positions.
  • the voxelization unit 202 alternates each frame of the point cloud with voxel grids at two types of positions that are offset from each other by 1 ⁇ 2 of the voxel size in each of the X, y, and z directions of the space. May be used for voxels.
  • each processing unit can each have any configuration.
  • each processing unit may be configured by a logic circuit that realizes the above processing.
  • each processing unit has, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc., and by executing a program using them. The above processing may be realized.
  • Rice cake ⁇ 2020/175 176 18 ⁇ (: 171-1? 2020/005726
  • each processing unit may have both configurations, and a part of the above-mentioned processing may be realized by a logic circuit and the other may be realized by executing a program.
  • the configuration of each processing unit may be independent of each other.
  • some processing units implement part of the above-mentioned processing by a logic circuit, and some other processing units execute programs.
  • the above processing may be realized, and another processing unit may realize the above processing by both executing the logic circuit and executing the program.
  • the voxelization section 202 determines in step 310.
  • the frame of the point cloud of the dynamic point cloud representation supplied from the outside of the previous processing unit or the voxelization processor 200 is acquired.
  • the voxel grid control unit 201 sets the position of the voxel grid according to the frame to be processed. For example, when applying two types of poxel grids alternately, the poxel grid control unit 201 sets the poxel grids depending on whether the frame to be processed is an odd-numbered frame or an even-numbered frame. Select a position.
  • step 3103 the voxelization section 202 uses the voxel grid set in step 3102 to determine the point cloud of the frame acquired in step 3101. Turn into voxels.
  • step 3104 the voxelization unit 2202 converts the point cloud data, which has been voxelized by the process of step 3103, to a processing unit in the subsequent stage or the voxelization processing device 200. Supply to.
  • step 3105 the voxelization unit 202 determines that the frame processed this time is the last frame of the point cloud of the dynamic point cloud representation supplied to the voxelization processing device 200. Determine if there is. If there is an unprocessed frame and it is determined that the frame is not the last frame, the process returns to step 3101 and the subsequent processes are repeated. ⁇ 2020/175 176 19 ⁇ (:171? 2020 /005726
  • each process of step 3101 to step 3106 is executed.
  • the point cloud that represents a three-dimensional object as a dynamic point cloud in a given time range is a static point cloud representation in that time range, and the voxel grid corresponding to the frame Is made into a voxel.
  • the voxelization unit 202 can apply each technique described in ⁇ 1. Control relating to voxelization>.
  • step 3105 If it is determined in step 3105 that the frame is the last frame, the process proceeds to step 3106.
  • the voxel grid control unit 201 supplies the voxel grid information about the applied voxel grid to the outside of the subsequent processing unit or the poxelization processing device 200. Note that this process can be omitted when there is no need to output the poxel grid information, as in the case where the type of voxel grid to be applied is predetermined.
  • step 3106 When the process of step 3106 is completed, the voxelization process is completed.
  • the voxelization processing device 200 may be further provided with other functions.
  • the voxelization processing apparatus 200 may reduce the resolution of the point cloud (reduce the number of points) to perform voxelization.
  • FIG. 9 is a block diagram showing a main configuration example of the voxelization processing device 200 in that case. As shown in FIG. 9, in this case, the voxelization processing device 200 further includes a resolution lowering unit 203 in addition to the configuration of FIG. 7.
  • the resolution reduction unit 203 performs processing related to resolution reduction of the point cloud. ⁇ 2020/175176 20 (:171? 2020/005726
  • the resolution lowering unit 203 acquires point cloud data supplied from the outside of the former processing unit or the voxelization processing device 200. Further, the resolution lowering unit 203 reduces the number of points of the acquired point cloud data to lower the resolution of the point cloud. This method of reducing the resolution (reducing the number of points) is arbitrary. The resolution reduction unit 203 supplies the reduced resolution point cloud data to the poxelization unit 202.
  • the voxelization unit 20 2 uses the voxel grid set by the voxel grid control unit 20 1 for each frame of the reduced-resolution point cloud data. Make it a voxel.
  • the voxelization unit 20 2 outputs the voxelized point cloud data to the outside of the voxelization processing device 200. Then, in this voxelization, the voxelization unit 202 can apply each technique described in ⁇ 1. Control relating to voxelization>, as in the case of FIG. 7.
  • the point cloud can be subjectively increased in resolution by the viewer. Therefore, even if the resolution of the point cloud is reduced, this technology can suppress the reduction in the subjective image quality of the point cloud of the viewer.
  • the voxelization processing device 200 reduces the amount of data while suppressing the reduction in the subjective image quality of the point cloud of the viewer. be able to. Therefore, in this case, the voxelization processing device 200 suppresses the point cloud processing while suppressing the reduction in the subjective image quality of the viewer of the point cloud, compared to the case where the resolution is not reduced. The load can be reduced. Further, the voxelization processing device 200 in this case is necessary for storing the point cloud while suppressing the reduction in the subjective image quality of the viewer of the point cloud as compared with the case where the resolution is not reduced. The storage capacity can be reduced.
  • each processing unit can each have any configuration.
  • each processing unit ⁇ 2020/175176 21 ⁇ (: 171-1? 2020/005726
  • each processing unit may have, for example, ⁇ _, ( ⁇ 11/1, etc., and execute the program using them to realize the above-mentioned processing.
  • ⁇ _ ⁇ 11/1, etc.
  • some of the processing units realize part of the above-mentioned processing by a logic circuit, and some of the processing units execute the program to realize the above-mentioned processing, and
  • the processing unit may realize the above-described processing by both the logic circuit and the execution of the program.
  • each processing of step 3 1 2 1, step 3 1 2 3 to step 3 1 2 7 is basically the same as each processing of step 3 1 0 1 to step 3 1 0 6 in FIG. The same is executed as.
  • step 3122 the resolution reduction unit 203 reduces the resolution of (the frame of) the point cloud acquired in step 3121.
  • step 3 1 2 the voxelization unit 2 0 2
  • the point cloud of the frame whose resolution has been reduced in step 3 1 2 2 is voxelized.
  • the voxelization processing device By executing the voxelization process as described above, the voxelization processing device
  • the voxelization processing device 200 suppresses the processing load of the point cloud while suppressing the reduction in the subjective image quality of the viewer of the point cloud, as compared with the case where the resolution is not reduced. Can be reduced.
  • the voxelization processing device 200 has a point cloud compared to the case where the resolution is not reduced. ⁇ 2020/175 176 22 (:171? 2020/005726
  • the method for lowering the resolution is arbitrary.
  • the resolution may be reduced by increasing the voxel size. Since the points are formed for each voxel by the voxelization, generally, for example, the resolution can be reduced to 1/8 by doubling the voxel size in each direction of X,. In this way, when the resolution is reduced by the voxelization, the resolution reduction unit 203 can be omitted.
  • the voxelization processing device 200 may generate the point cloud.
  • FIG. 11 is a block diagram showing a main configuration example of the voxelization processing device 200 in that case.
  • the voxelization processing device 200 further includes a 30 data generation unit 20 4 and a point cloud generation unit 20 5 in addition to the configuration of FIG. 7.
  • the 30 data generation unit 204 performs processing relating to the generation of 30 data.
  • the 30 data generation unit 204 generates 30 data of an object having a three-dimensional structure.
  • This 30 data may have any specifications.
  • 30 data may be composed of a two-dimensional image of an object and depth information. It may be a mesh 0 ⁇ 311) that is composed of vertices, edges, and faces and that defines a three-dimensional shape using polygonal representation.
  • the method of generating this 30 data is arbitrary.
  • the 30 data generation unit 204 has an imaging function such as a camera, and an object in the physical space is used as an object to be imaged from multiple directions using the imaging function, and depth information is generated from the captured image. I don't mind.
  • the 30 data generation unit 204 may generate 3B data of a virtual object by using computer graphics technology. ⁇ 2020/175 176 23 ⁇ (:171? 2020 /005726
  • the 30 data generation unit 204 generates 30 data that dynamically represents an object in a predetermined time range. For example, the 30 data generation unit 204 generates 30 data that statically represents a talented object at predetermined time intervals within the predetermined time range (that is, generates 30 data for each frame). Yes) Further, for example, the 30 data generation unit 204 generates 30 data that represents a change or movement of an object in the predetermined time range.
  • the 30 data generation unit 2054 supplies the 30 data generated as described above to the point cloud generation unit 205.
  • the point cloud generation unit 205 performs processing related to generation of a point cloud. For example, the point cloud generation unit 205 generates a point cloud by using the 30 data supplied from the 30 data generation unit 204 (3. Converting data into a point cloud). The point cloud generation unit 205 supplies the generated point cloud data to the voxel conversion unit 205.
  • the voxelization unit 202 has a point cloud generation unit 2
  • Each frame of the point cloud data generated by 0 5 is made into a voxel using the voxel grid set by the voxel grid control unit 20 1.
  • the voxelization unit 202 outputs the voxelized point cloud data to the outside of the voxelization processing device 200. Then, in this voxelization, the voxelization unit 202 can apply each technique described in ⁇ 1. Control relating to voxelization>, as in the case of FIG. 7.
  • Control related to voxelization> by controlling the voxel grid, it is possible to suppress deterioration of the subjective image quality of the point cloud of the viewer. That is, in this case, the voxelization processing apparatus 200 can generate a point cloud that suppresses the reduction in the subjective image quality of the viewer.
  • the 0 2, 30 data generation unit 20 4, and the point cloud generation unit 20 5) can each have an arbitrary configuration.
  • each processing unit is ⁇ 2020/175 176 24 ⁇ (:171? 2020 /005726
  • each processing unit may have, for example, ⁇ _, ( ⁇ 11/1, etc., and execute the program by using them to realize the above processing.
  • each processing unit It may have both configurations, and a part of the above-mentioned processing may be realized by a logic circuit, and the other may be realized by executing a program.
  • some of the processing units realize some of the above-mentioned processing by a logic circuit, and some of the processing units realize the above-mentioned processing by executing a program, and further other processing.
  • the unit may realize the above-described processing by both the logic circuit and the execution of the program.
  • the 30 data generation unit 2044 when the voxelization process is started, the 30 data generation unit 2044 generates 3 frames of 1 frame in step 3 1 41.
  • step 3 1 4 2 the point cloud generation unit 205
  • a point cloud of 1 frame is generated using 3 frames of 1 frame generated in 3 1 4.
  • step 3 1 4 3 to step 3 1 4 7 is similar to step 3 1 of FIG.
  • the voxelization processing device 200 may be configured to code the voxelized point cloud.
  • FIG. 13 is a block diagram showing a main configuration example of the voxelization processing device 200 in that case.
  • the voxelization processor 2 0 0 further includes an encoding unit 206 in addition to the configuration of FIG. 7.
  • the encoding unit 206 performs processing relating to point cloud encoding.
  • the voxelization unit 202 supplies the voxel cloud data that has been voxelized to the coding unit 206.
  • the encoding unit 206 acquires the point cloud data that has been voxelized.
  • the encoding unit 206 encodes the point cloud data.
  • the point cloud data encoding method is arbitrary. For example, encoding may be performed using Octree.
  • the point cloud is projected onto a two-dimensional plane, and as a two-dimensional image, MPEG (Mov i ng P icture Experts Group) encoding (AVC (Advanced Video Cod i ng) or HEVC (H i gh Efficiency). (Including V i deo Cod i ng) and the like) may be used for coding.
  • the coding unit 206 supplies the coded data generated by coding the point cloud to the processing unit at the subsequent stage or the outside of the voxelization processing device 200.
  • the voxelization processing apparatus 200 in this case can suppress an increase in the amount of data while suppressing a reduction in the subjective image quality of the point cloud of the viewer.
  • the poxel grid control unit 201 can supply the poxel grid information to the encoding unit 206.
  • the coding unit 206 codes the voxel grid information supplied from the voxel grid control unit 201 to generate coded data.
  • the coding unit 206 associates the coded data of the voxel grid information with the coded data of the point cloud data that has been voxelized, and supplies it to the processing unit in the subsequent stage or the outside of the voxelization processing device 200.
  • the encoding unit 206 embeds the encoded data of the voxel grid information in the header of the encoded data of the point cloud data that has been voxelized, and outputs it as one bit stream. Good.
  • each processing unit may be configured by a logic circuit that realizes the above processing.
  • each processing unit for example, It is also possible to realize the above-mentioned processing by including the above, and executing a program using them.
  • each processing unit may have both configurations, and a part of the above-mentioned processing may be realized by a logic circuit, and the other may be realized by executing a program.
  • the configuration of each processing unit may be independent of each other. For example, one processing unit realizes a part of the above-mentioned processing by a logic circuit and the other processing unit executes a program to perform the above-mentioned processing. Alternatively, another processing unit may realize the above-described processing by both executing the logic circuit and executing the program.
  • Step 3 1 61 to Step 3 1 6 3 Step 3
  • Each processing of 1 165 is basically executed in the same manner as each processing of step 3 1 0 1 to step 3 1 0 3 and step 3 1 0 5 of FIG.
  • step 3 16 4 the encoding unit 206 encodes the point cloud data that has been voxelized in step 3 16 3 to generate encoded data.
  • step 3165 If it is determined in step 3165 that it is the last frame, the process proceeds to step 3166.
  • the coding unit 206 codes the poxel grid information including the information about the voxel grid set in step 3166.
  • step 3167 the encoding unit 206 outputs the encoded point cloud data generated in step 3166 and the voxel grid information generated in step 3166.
  • the encoded data (bit stream) is associated with the encoded data, and the encoded data (bit stream) is processed in a subsequent stage or a voxelization processing device. ⁇ 2020/175 176 27 ⁇ (:171? 2020 /005726
  • step 3167 When the process of step 3167 is completed, the voxelization process is completed.
  • the present technology can be applied to any device, system, or the like.
  • the present technology can be applied to a playback device that plays back a point cloud.
  • FIG. 15 is a block diagram showing an example of the main configuration of a reproducing apparatus to which the present technology is applied.
  • the playback device 220 shown in FIG. 15 is a device that voxels the input point cloud and plays the voxelized point cloud.
  • the playback device 220 includes a poxel grid control unit 2
  • the voxel grid control unit 201 and the voxelization unit 2022 have the same configurations as those described in ⁇ 2_1. Control of voxel grids> and perform the same processing. However, the voxelization unit 202 supplies the point cloud data that has been voxelized to the playback unit 2 21.
  • the replay unit 2 2 1 replays the voxelized point cloud data.
  • the reproduction unit 2 21 forms an image of the voxelized point cloud data, displays the image on a display unit such as a monitor, or projects the image using a projection unit such as a projector.
  • the playback unit 2 2 1 is Perform predetermined processing on the point cloud data.
  • the content of this process is optional. For example, it may be some kind of filter processing or some kind of image processing.
  • the playback unit 2 21 creates a merged frame by merging a plurality of voxelized frames using different voxel grids, and plays back the merged frame. Good. By doing so, it is possible to obtain the same effect as the case described in ⁇ 1. Control relating to voxelization>.
  • the poxel grid control unit 20 1 may generate the poxel grid information and supply it to the reproduction unit 2 21. In that case, the reproducing unit 2 21 performs merge of multiple frames based on the poxel grid information to generate a merge frame, and reproduces the merge frame.
  • the voxelization unit 202 can apply each technique described in ⁇ 1. Control relating to voxelization>. By doing so, as described above in ⁇ 1. Control relating to voxelization>, it is possible to suppress the reduction in the subjective image quality of the point cloud of the viewer.
  • the configuration of the playback device 220 is arbitrary and is not limited to the example of Fig. 15.
  • the playback device 220 may have other functions.
  • the reproducing apparatus 220 may be provided with the resolution reducing section 203 described in ⁇ 2 — 2. Resolution reduction>.
  • the playback device 220 may include the 3D data generation unit 204 and the point cloud generation unit 205 described in ⁇ 2-3. Generation of point cloud>.
  • the playback device 220 may be provided with a combination of these processing units as appropriate. By including these processing units, the reproducing device 220 can obtain the same effects as in the case of the first embodiment.
  • the reproducing unit 2 2 1) can have any configurations. example ⁇ 2020/175 176 29 ⁇ (:171? 2020 /005726
  • each processing unit may be configured by a logic circuit that realizes the above processing.
  • each processing unit may have, for example, ⁇ _, ( ⁇ 11/1, etc., and execute the program by using them to realize the above processing.
  • each processing unit it is also possible to have both of these configurations and implement some of the above-mentioned processing by a logical circuit and implement the other by executing a program.
  • some of the processing units realize part of the above-mentioned processing by a logic circuit, and some of the processing units execute the program to realize the above-mentioned processing, and
  • the processing unit may realize the above-mentioned processing by both the logic circuit and the execution of the program.
  • the poxelization unit 20.sub.2 When the reproduction process is started, the poxelization unit 20.sub.2 generates the dynamic point cloud representation supplied from the outside of the processing unit of the previous stage or the reproduction device 220.sub.2 in step 3221. Get 1 frame of the point cloud of.
  • the voxel grid control unit 201 sets the position of the voxel grid according to the frame to be processed. For example, when applying two types of poxel grids alternately, the poxel grid control unit 201 sets the poxel grids depending on whether the frame to be processed is an odd-numbered frame or an even-numbered frame. Select a position.
  • step 3 2 2 3 the voxelization unit 20 2 uses the voxel grid set in step 3 2 2 2 to extract the point cloud of the frame acquired in step 3 2 2 1. Turn into voxels.
  • Step 3 2 2 4 the reproducing unit 2 2 1 reproduces (displays and processes) the point cloud data that has been voxelized by the process of Step 3 2 2 3.
  • step 3 2 25 the voxelization unit 202 determines the frame processed this time. ⁇ 2020/175 176 30 (:171? 2020/005726
  • step 3225 If it is determined in step 3225 that the frame is the last frame, the reproduction process ends.
  • the present technology can be applied to, for example, a transmitting device that transmits point cloud data to another device.
  • FIG. 17 is a block diagram showing an example of the main configuration of a transmitting device to which the present technology is applied.
  • the transmitting device 240 shown in FIG. 17 is a device that voxels the input point cloud and transmits the voxelized point cloud to another device (not shown).
  • the transmitter 2440 is connected to the poxel grid controller 2
  • the voxel grid control unit 201 and the voxelization unit 202 have the same configuration and perform the same processing as the case described in ⁇ 2_1. Control of voxel grid>. However, the voxelization unit 20 2 supplies the voxelized point cloud data to the transmission unit 2 4 1.
  • the transmission unit 2 4 1 transmits the voxelized point cloud data.
  • the transmission unit 2 41 has a communication interface of a predetermined standard, and The point cloud data supplied from the poxelization unit 202 is transmitted via this communication interface.
  • the point cloud data transmitted from the transmission unit 2 4 1 is transmitted to another device via a predetermined transmission medium or the like. For example, it is transmitted via a communication network such as a LAN (Local Area Network) or the Internet, or a communication device such as a relay device. Note that this communication (transmission/reception of point cloud data) may be performed by wire communication or wireless communication.
  • the poxel grid control unit 201 supplies the generated poxel grid information to the transmission unit 2 4 1.
  • the transmission unit 2 4 1 transmits the supplied poxel grid information.
  • the transmission unit 2 41 associates this poxel grid information with the corresponding point cloud data (that is, the point cloud data that has been voxelized using the poxel grid indicated by the poxel grid information) and transmits it.
  • the transmission unit 2 4 1 may encode the point-clad data and the voxel grid information that have been made into voxels, and may send the encoded data as one bit stream.
  • the voxelization unit 202 can apply each technique described in ⁇ 1. Control relating to voxelization>. By doing so, as described above in ⁇ 1. Control relating to voxelization>, it is possible to suppress the reduction in the subjective image quality of the point cloud of the viewer.
  • the configuration of the transmission device 240 is arbitrary and is not limited to the example of Fig. 17.
  • the transmitting device 240 may have other functions.
  • the transmission device 2440 may be provided with the resolution reduction unit 2033 described in ⁇ 2_2. Resolution reduction>.
  • the transmission device 240 may include the 3D data generation unit 204 and the point cloud generation unit 205 described in ⁇ 2-3. Generation of point cloud>.
  • the transmission device 240 may include the coding unit 206 described in ⁇ 2-4. Coding>. Of course, explained in ⁇ 2-5. Combination> ⁇ 2020/175 176 32 (:171? 2020/005726
  • the transmission device 240 may include these processing units in an appropriate combination. By including these processing units, the transmission device 240 can obtain the same effects as in the case of the first embodiment.
  • each processing unit may be configured by a logic circuit that realizes the above processing.
  • each processing unit for example, It is also possible to realize the above-mentioned processing by having the above and executing the program using them.
  • each processing unit may have both configurations, and a part of the above-mentioned processing may be realized by a logical circuit and the other may be realized by executing a program.
  • the configurations of the respective processing units may be independent of each other.
  • some of the processing units may implement part of the above-described processing by a logic circuit, and some of the processing units may execute the program. It is also possible to realize the above processing, and yet another processing unit realizes the above processing by both executing the logic circuit and executing the program.
  • each process of step 3 2 4 1 to step 3 2 4 3 is performed in the same manner as each process of step 3 2 2 1 to step 3 2 2 3 in FIG. Done.
  • step 3 2 4 the transmission unit 2 4 1 transmits the point cloud data that has been voxelized by the processing in step 3 2 4 3.
  • step 3 2 4 5 the voxelization unit 202 determines whether the frame processed this time is the last frame of the point cloud of the dynamic point cloud representation to be processed. .. If there is an unprocessed frame and it is determined that the frame is not the last frame, the process returns to step 3 2 4 1 and the subsequent processes are repeated. ⁇ 2020/175176 33 ⁇ (: 171-1? 2020/005726
  • step 3 2 4 5 If it is determined in step 3 2 4 5 that the frame is the last frame, the process proceeds to step 3 2 4 6.
  • step 3 246 the voxel grid control unit 201 supplies the poxel grid information about the applied voxel grid to the transmission unit 2 4 1. Then, the transmission unit 2 41 transmits the poxel grid information. Note that the transmission unit 2 4 1 associates this poxel grid information with the corresponding point cloud data (that is, the point cloud data that has been voxelized using the poxel grid indicated by the poxel grid information) and transmits it. May be.
  • the transmission unit 2 4 1 may be configured to encode the point cloud data and the voxel grid information that have been voxelized, and transmit the coded data as one bit stream. Note that this process can be omitted when there is no need to transmit the poxel grid information, for example, when the type of the applied poxel grid is predetermined.
  • the transmission device 240 reduces the resolution of the point cloud, generates the point cloud, or encodes the point cloud data, in the transmission process described above, in the first embodiment.
  • the processes described above may be appropriately executed.
  • the present technology can be applied to, for example, a storage device that stores point cloud data in a storage medium.
  • FIG. 19 is a block diagram showing an example of the main configuration of a storage device to which the present technology is applied.
  • the storage device 260 shown in Fig. 19 poxels the input point cloud and converts the voxelized point cloud to an arbitrary storage medium. ⁇ 2020/175176 34 ⁇ (: 171-1? 2020/005726
  • the storage device 260 includes a voxel grid control unit 2
  • the storage device 260 has a storage unit 2 61 instead of the transmission unit 2 4 1 of the transmission device 2 4 0.
  • the storage unit 2 61 has a storage medium and its interface (neither is shown), and stores the voxelized point cloud data supplied from the poxelization unit 202 in the storage medium. ..
  • This storage medium is arbitrary. For example, it may be composed of a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like, or may be composed of two or more of them.
  • this storage medium may be built in the storage unit 2 61, or may be configured as a removable medium that is removable from the storage unit 2 61.
  • the poxel grid control unit 2 0 1 when the poxel grid control unit 2 0 1 generates the poxel grid information, it supplies the generated poxel grid information to this storage unit 2 6 1. ..
  • the storage unit 2 61 stores the supplied poxel grid information in the storage medium.
  • the storage unit 2 61 stores this poxel grid information in association with the corresponding point cloud data (that is, the point cloud data that has been voxelized using the poxel grid indicated by the poxel grid information).
  • the storage unit 2 61 may encode the voxel grid point data and the voxel grid information, and store the encoded data in the storage medium as one bit stream.
  • the storage unit 2 61 may be configured to be able to read the information stored in the storage medium.
  • the voxelization unit 202 can apply each technique described in ⁇ 1. Control relating to voxelization>. By doing so, as described above in ⁇ 1. Control related to voxelization>, the point crowd ⁇ 2020/175 176 35 ⁇ (: 171? 2020 /005726
  • the configuration of the storage device 260 is arbitrary and is not limited to the example of FIG.
  • the storage device 260 may have other functions.
  • the storage device 260 may include the resolution lowering unit 2033 described in ⁇ 2 — 2. Reducing resolution>.
  • the storage device 260 may include the 30 data generation unit 20 4 and the point cloud generation unit 20 5 described in ⁇ 2-3. Generation of point cloud>.
  • the storage device 260 may include the encoding unit 206 described in ⁇ 2-4. Encoding>.
  • the storage device 260 may include these processing units in an appropriate combination. By including these processing units, the storage device 260 can obtain the same effects as in the case of the first embodiment.
  • each processing unit may be configured by a logic circuit that realizes the above processing.
  • each processing unit for example, It is also possible to realize the above-mentioned processing by having the above and executing the program using them.
  • each processing unit may have both configurations, and a part of the above-mentioned processing may be realized by a logical circuit and the other may be realized by executing a program.
  • the configurations of the respective processing units may be independent of each other.
  • some of the processing units may implement part of the above-described processing by a logic circuit, and some of the processing units may execute the program. It is also possible to realize the above processing, and yet another processing unit realizes the above processing by both executing the logic circuit and executing the program.
  • the flow of the storage process executed by the storage device 260 is basically the same as the case of the transmission process described with reference to the flow chart of FIG.
  • the memory 2 6 1 ⁇ 2020/175 176 36 ⁇ (:171? 2020 /005726
  • the converted point cloud may be stored in the storage medium.
  • the storage unit 2 61 may store the voxel grid information generated by the voxel grid control unit 20 1 in the storage medium.
  • the storage unit 2 61 may encode the voxelized point cloud data and the voxel grid information and store the encoded data as one bit stream in the storage medium. .. If it is not necessary to store the voxel grid information, for example, when the type of voxel grid to be applied is predetermined, this process can be omitted.
  • Figure 20 shows the main configuration of the playback device to which the present technology is applied.
  • Fig. 20 is a block diagram showing an example of the playback device 300 shown in Fig. 20. It is a device that reproduces point cloud data.
  • the playback device 300 has a merge control unit 301, a merging processing unit 30 2, and a playback unit 30 3.
  • the merge control unit 301 performs processing relating to merge control executed by the merge processing unit 302. For example, the merge control unit 3 0 1 ⁇ 2020/175176 37 ⁇ (: 171-1?2020/005726
  • Control 2 and specify how many frames should be merged. For example, when the number of frames to be merged is predetermined, the merge control unit 301 holds the information, and controls the merge processing unit 302 based on the information.
  • the merge processing unit 3002 performs processing relating to the merge (1116 " 96 ).
  • the merge processing unit 302 is a voxelized supplied from the preceding processing unit or another device.
  • the merge processing unit 3002 merges a plurality of frames of the acquired point cloud data to generate a merge frame.
  • a merged frame is generated by merging the frames of.
  • the merge processing unit 3002 merges two continuous frames of the voxelized voxel to generate a merged frame.
  • the number of frames to be merged may be controlled by the merge control unit 301, for example.
  • the merge processing unit 3002 performs merging for each frame number designated by the merge control unit 3001.
  • the merge processing unit 3002 can perform the merge so as to merge a plurality of consecutive frames to which different poxel grids are applied. That is, the merge processing unit 3002 can perform the merge with an appropriate number of frames.
  • the merge processing unit 3002 supplies the merged point cloud data (point cloud data composed of merge frames) to the playback unit 300.
  • the reproduction unit 3003 reproduces the point cloud data (point cloud data composed of merge frames) supplied from the merge processing unit 302.
  • the number of frames to be merged may be variable.
  • the merge control unit 301 obtains the poxel grid information supplied from the previous-stage processing unit that performed the voxelization or another device, and the merge processing unit 3001 based on the poxel grid information. May be controlled.
  • This voxel grid information includes, for example, information about the applied voxel grid, such as how many frames are set as one set (how many kinds of voxel grids are applied).
  • the merge control unit 3001 controls the merge processing unit 3002 based on the information.
  • the merge control unit 301 can use the poxel grid information. It is possible to control the merge processing unit 3002 to merge the same number of frames as the number of frames. By such control, the merging unit 3002 determines whether the number of frames to be set in voxelization is unknown (when the number of frames to be merged is not predetermined). Appropriate merging can be performed on voxelized point cloud data (appropriate number of frames can be merged).
  • the merge processing unit 3002 can apply each technique described in ⁇ 1. Control relating to voxelization>. By doing this, ⁇ 2020/175 176 39 (:171? 2020/005726
  • each processing unit may be configured by a logic circuit that realizes the above processing.
  • each processing unit for example, And the like, and the above-described processing may be realized by executing a program using them.
  • each processing unit may have both of the configurations, and a part of the above processing may be realized by a logic circuit and the other may be realized by executing a program.
  • the configurations of the respective processing units may be independent of each other.
  • some processing units may implement part of the above-described processing by a logic circuit, and some other processing units may execute programs.
  • the above processing may be realized, and another processing unit may execute the above processing by both the logic circuit and the execution of the program.
  • the merge control unit 331 acquires the poxel grid information supplied from the outside of the processing unit of the preceding stage or the reproduction device 300 at step 331. To do. For example, if the number of frames to be merged is known, this process can be omitted.
  • step 3302 the merge processing unit 3002 is converted into a 1-frame poxel supplied from the outside of the previous processing unit or the playback device 300 in step 3302. Get a point cloud.
  • the merge processing unit 3002 holds the point cloud of the one frame.
  • step 3330 the merge processor 302 follows the control of the merge controller 3101, that is, based on the voxel grid information obtained in step 3301, The 1-frame point cloud acquired in 0 2 is merged with the past point frame ⁇ 2020/175 176 40 ⁇ (:171? 2020 /005726
  • the merge processing unit 3002 holds the point cloud for a plurality of frames, and merges the point cloud of the latest frame with the point cloud of the past frames continuous to the latest frame.
  • the number of frames to be merged at that time is designated by the merge control unit 3 0 1.
  • step 3340 the reproduction unit 3003 reproduces (displays or processes) the merge frame (that is, the merged point cloud) generated by the process of step 3303. ).
  • step 3305 the merge processing unit 3002 determines whether or not the frame processed this time is the last frame of the point cloud of the dynamic point cloud representation to be processed. .. If there is an unprocessed frame and it is determined that the frame is not the last frame, the process returns to step 3302, and the subsequent processes are repeated. That is, the processing from step 3302 to step 3305 is performed for each frame of the voxelized point cloud.
  • step 335 If it is determined in step 335 that the frame is the last frame, the reproduction process ends.
  • the configuration of the playback device 300 is arbitrary and is not limited to the example of FIG.
  • the playback device 300 may have other functions.
  • it may have a function of receiving point cloud data transmitted from another device.
  • Fig. 22 is a block diagram showing an example of the main configuration of the reproducing device 300 in this case.
  • the reproducing device 300 further includes a receiving unit 304 in addition to the configuration shown in FIG. ⁇ 2020/175176 41 ⁇ (: 171-1? 2020/005726
  • the receiving unit 304 performs processing relating to data reception.
  • the receiving unit 304 has a communication interface of a predetermined standard, and receives the point cloud data transmitted from another device via the communication interface.
  • the reception unit 304 receives the voxelized point cloud data transmitted from the transmission unit 241 of the transmission device 2440.
  • the reception unit 340 supplies the received point cloud data to the merge processing unit 302.
  • the merge processing unit 3002 processes the voxelized point cloud data supplied from the reception unit 3004 in the same manner as in the case of FIG.
  • the receiving unit 304 can also receive the voxel grid information transmitted from another device via the above-mentioned communication interface.
  • the receiving unit 340 receives the poxel grid information transmitted from the transmitting unit 2 4 1 of the transmitting device 2 4 0.
  • the reception unit 304 supplies the received poxel grid information to the merge control unit 301.
  • the reproducing device 300 can realize the high resolution of the point cloud, as in the case of Fig. 20.
  • the playback device 300 can perform an appropriate merge with the voxelized point cloud data to be processed (an appropriate number of frames can be merged). can do) .
  • the merge processing unit 302 can apply each technique described in ⁇ 1. Control relating to voxelization>. By doing so, the resolution of the point cloud can be improved, as described above in ⁇ 1. Control related to voxelization>.
  • each processing unit may be configured by a logic circuit that realizes the above processing.
  • each processing unit for example, And the like, and the above-described processing may be realized by executing a program using them.
  • each processing unit has both configurations, and a part of the above processing is realized by a logic circuit, while the other is ⁇ 2020/175176 42 (:171? 2020/005726
  • processing units may be realized by executing a program.
  • the configurations of the respective processing units may be independent of each other.
  • some processing units may implement part of the above-described processing by a logic circuit, and some other processing units may execute programs.
  • the above processing may be realized, and another processing unit may execute the above processing by both the logic circuit and the execution of the program.
  • Step 3301 the receiving unit 3004 receives the poxel grid information, and in Step 3302, the receiving unit 3004 makes one frame of the voxelized point. All you have to do is receive the cloud.
  • the received point cloud data may be encoded. That is, the playback device 300 may receive the encoded data of the point cloud data, decode the encoded data, and perform merging.
  • Fig. 23 is a block diagram showing a main configuration example of the reproducing device 300 in this case.
  • the reproducing device 300 further includes a receiving unit 300 and a decoding unit 306 in addition to the configuration shown in FIG.
  • the receiving unit 305 performs processing relating to reception of encoded data.
  • the receiving unit 305 has a communication interface of a predetermined standard, and receives the coded data of the point cloud data transmitted from another device via the communication interface.
  • the reception unit 305 receives the encoded data of the voxelized point cloud data transmitted from the transmission unit 241 of the transmission device 2440.
  • the receiving unit 305 decodes the received encoded data into the decoding unit 305. ⁇ 2020/175176 43 ⁇ (: 171-1?2020/005726
  • the decoding unit 306 decodes the supplied encoded data and generates point cloud data that has been voxelized. This decoding method may be any method as long as it corresponds to the coding method when generating the coded data.
  • the decoding unit 306 supplies the generated point cloud data to the merge processing unit 302.
  • the merge processing unit 3002 processes the voxelized point cloud data supplied from the decoding unit 300, in the same manner as in the case of Fig. 20.
  • the encoded data received by the receiving unit 305 may include the voxel grid information corresponding to the point cloud data.
  • the decoding unit 306 not only generates the voxel cloud data that has been voxelized as described above by decoding the coded data, but also generates the voxel grid information.
  • the decoding unit 306 supplies the generated poxel grid information to the merge control unit 301.
  • the reproducing device 300 can realize the high resolution of the point cloud, as in the case of FIG.
  • the playback device 300 can perform an appropriate merge with the voxelized point cloud data to be processed (an appropriate number of frames can be merged). can do) .
  • the merge processing unit 302 can apply each technique described in ⁇ 1. Control related to voxelization>. By doing so, the resolution of the point cloud can be improved, as described above in ⁇ 1. Control related to voxelization>.
  • each of these processing units can have any configuration.
  • each processing unit may be configured by a logic circuit that realizes the above processing.
  • each processing unit for example, Etc. and execute the program using them to realize the above processing. ⁇ 2020/175 176 44 ⁇ (:171? 2020 /005726
  • each processing unit may have both configurations, and a part of the above processing may be realized by a logic circuit and the other may be realized by executing a program.
  • the configurations of the respective processing units may be independent of each other.
  • some processing units may realize a part of the above-mentioned processing by a logic circuit, and the other processing units may execute the program.
  • another processing section may realize the above processing by both the logic circuit and the execution of the program.
  • the reception unit 305 receives the encoded data in step 3321.
  • step 3322 decoding section 306 decodes the encoded data received in step 3321 to generate the poxel grid information. Note that this process can be omitted if the poxel grid information is not transmitted.
  • step 3323 the decoding section 306 decodes the encoded data received in step 3321, generates a voxelized point cloud of 1 frame (latest frame), and stores it. To do.
  • step 3 3 2 4 the merge processing unit 3 0 2 merges the voxelized point cloud of the latest frame generated by the processing of step 3 3 2 3 with a point cloud of a predetermined number of past frames. , Generate a merge frame. The number of frames to be merged at that time is specified by the merge control unit 301. The merge control unit 301 makes this designation, for example, based on the voxel grid information generated in step 3322.
  • step 3325 the reproduction unit 3003 reproduces (displays or processes) the merge frame (that is, the merged point cloud) generated by the processing in step 3324. ).
  • the merge frame that is, the merged point cloud
  • step 3326 the merge processing unit 3002 determines whether or not the frame processed this time is the last frame of the point cloud of the dynamic point cloud representation to be processed. .. If there is an unprocessed frame and it is determined that the frame is not the last frame, the process returns to step 3323, and the subsequent processes are repeated. That is, the processing from step 3323 to step 3326 is performed for each frame of the voxel cloud that has been voxelized.
  • step 3326 If it is determined in step 3326 that the frame is the last frame, the reproduction process ends.
  • control information related to the present technology described in each of the above embodiments may be transmitted from the encoding side to the decoding side.
  • control information for controlling whether to permit (or prohibit) application of the present technology described above for example, ⁇ 139
  • control information that directly or indirectly specifies a range in which the application (or prohibition) of applying the present technology may be transmitted.
  • Fig. 25 is a block diagram showing a configuration example of hardware of a computer that executes the series of processes described above by a program.
  • ROM Read Only Memory
  • RAM Random Access Memory
  • An input/output interface 910 is also connected to the bus 904.
  • the input/output interface 910 is connected to an input unit 911, an output unit 912, a storage unit 913, a communication unit 914, and a drive 915.
  • the input unit 9 11 comprises, for example, a keyboard, a mouse, a microphone, a touch panel, an input terminal and the like.
  • the output unit 9 12 is composed of, for example, a display, a speaker, an output terminal and the like.
  • the storage unit 9 13 comprises, for example, a hard disk, a RAM disk, a non-volatile memory, or the like.
  • the communication unit 9 14 comprises, for example, a network interface.
  • the drive 9 15 drives a removable medium 9 2 1 such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory.
  • the RAM 903 By executing the program stored in the memory 91 3 via the input/output interface 910 and the bus 904 and executing it in the RAM 903, the above-mentioned sequence of operations is executed. Be seen.
  • the RAM 903 also appropriately stores data necessary for the CPU 901 to execute various processes.
  • the program executed by the computer can be recorded and applied to the removable medium 9 2 1 such as a package medium, for example.
  • the program can be installed in the storage unit 9 13 via the I/O interface 9 10 by mounting the removable medium 9 21 in the drive 9 15.
  • this program can be provided via a wired or wireless transmission medium such as an oral area network, the Internet, or digital satellite broadcasting.
  • the program is received by the communication unit 9 14 and stored in the storage unit 9 14.
  • this program can be installed in the R0M 902 or storage unit 913 in advance.
  • the present technology is not limited to these examples. It can be applied to any standard 3D de-poxelization and playback. That is, the specifications of various data such as 3D data and metadata are arbitrary as long as they do not conflict with the present technology described above. Also, as long as it is consistent with the present technology, some of the processes and specifications described above may be omitted.
  • the present technology can be applied to any configuration.
  • the present technology is applied to a transmitter and a receiver (such as a television receiver and a mobile phone) for satellite broadcasting, cable broadcasting such as cable TV, distribution on the Internet, and distribution to terminals by cellular communication.
  • Telephones or various electronic devices such as devices that record images on media such as optical disks, magnetic disks and flash memories, and reproduce images from these storage media (eg hard disk recorders and cameras). It can be applied to equipment.
  • the present technology can be applied to a processor (eg, video processor) as a system LSI (Large Scale Integration), a module (eg, video module) using a plurality of processors, It may be implemented as a part of the device, such as a unit using a module or the like (for example, a video unit), or a set in which another function is added to the unit (for example, a video set).
  • a processor eg, video processor
  • system LSI Large Scale Integration
  • the present technology can also be applied to a network system including a plurality of devices.
  • this technology can be You may make it implement
  • the present technology may be implemented in a cloud service that enables the technology.
  • the system means a set of a plurality of constituent elements (devices, modules (parts), etc.), and whether or not all constituent elements are in the same housing It doesn't matter. Therefore, multiple devices that are housed in separate housings and connected via a network, and one device that contains multiple modules in one housing are both is there.
  • Systems, devices, processing units, etc. to which this technology is applied can be used in any fields such as transportation, medical care, crime prevention, agriculture, livestock industry, mining, beauty, factories, home appliances, weather, nature monitoring, etc. You can Further, its application is also arbitrary.
  • “flag” is information for identifying multiple states, and is not only information used to identify two states of true (1) or false (8), It also includes information that can identify more than two states. Therefore, the value that this “flag” can take may be, for example, a binary value of 1/0, or a value of 3 or more. That is, the number of b it that composes this "flag” is arbitrary, and may be 1 b i t or plural b i t. Further, since the identification information (including the flag) is not limited to the form in which the identification information is included in the bit stream, the form in which the difference information of the identification information with respect to certain reference information is included in the bit stream is also assumed. In the present specification, “flag” and “identification information” include not only that information but also difference information with respect to reference information.
  • various types of information (metadata, etc.) regarding the encoded data may be transmitted or recorded in any form as long as it is associated with the encoded data.
  • the term "associate” refers to an example ⁇ 2020/175176 49 ⁇ (: 171-1? 2020 /005726
  • the other data when processing one data, it means that the other data can be used (linked). That is, the data associated with each other may be collected as one data or may be individual data.
  • the information associated with the encoded data (image) may be transmitted on a transmission path different from that of the encoded data (image).
  • the information associated with the encoded data (image) is recorded on a recording medium (or another recording area of the same recording medium) different from the encoded data (image). Good.
  • this “association” may be a part of the data instead of the entire data.
  • the image and the information corresponding to the image may be associated with each other in an arbitrary unit such as a plurality of frames, a frame, or a part of the frame.
  • the configuration described as one device (or processing unit) may be divided and configured as a plurality of devices (or processing units).
  • the configurations described above as a plurality of devices (or processing units) may be integrated into one device (or processing unit).
  • a configuration other than the above may be added to the configuration of each device (or each processing unit).
  • part of the configuration of one device (or processing unit) may be included in the configuration of another device (or other processing unit). ..
  • the above-described program may be executed in any device.
  • the device will provide the necessary functions (functional blocks, etc.). ⁇ 2020/175 176 50 ⁇ (:171? 2020 /005726
  • one device may execute each step of one flow chart, or a plurality of devices may share and execute the steps.
  • the plurality of processes may be executed by one device, or may be executed by a plurality of devices in a shared manner.
  • a plurality of processes included in one step can be executed as a process of a plurality of steps.
  • the processes described as multiple steps can be collectively executed as one step.
  • the processes of the steps for writing the program may be executed in time series in the order described in this specification, in parallel, or It may be executed individually at a necessary timing such as when a call is made. That is, as long as no contradiction occurs, the processing of each step may be executed in a different order from the order described above. Further, the processing of the step of writing this program may be executed in parallel with the processing of other programs, or may be executed in combination with the processing of other programs.
  • a plurality of techniques related to the present technique can be independently implemented as a single unit unless a contradiction occurs.
  • part or all of the present technology described in any of the embodiments can be implemented in combination with part or all of the present technology described in other embodiments.
  • a part or all of the present optional technology described above can be implemented in combination with other technology not described above.
  • the present technology may also be configured as below.
  • a point cloud representing a three-dimensional object as a dynamic point cloud in a predetermined time range is represented by a voxel grid corresponding to the frame for each frame which is a static point cloud expression in the time range.
  • An information processing apparatus including.
  • the voxelization unit voxels each frame of the point cloud using a voxel grid at a position corresponding to the frame.
  • the voxelizing unit voxels each frame of the point cloud by sequentially and repeatedly using voxel grids at a plurality of types of positions.
  • the positions of the plurality of types of the voxel grid are deviated from each other in the X and X directions of the space by one, which is the number of types of the positions of the voxel grid, of the voxel size.
  • the information processing device according to (3).
  • the voxelization unit voxels each frame of the point cloud by alternately using voxel grids at two types of positions.
  • the voxelization unit alternates each frame of the point cloud with voxel grids at two types of positions that are offset from each other by 1 ⁇ 2 of the voxel size in each direction of X,, and in the space. Used to create voxels
  • the information processing device according to (5).
  • the image processing system further includes a resolution reducing unit that reduces the resolution of the point cloud
  • the voxelization unit voxels each frame of the point cloud whose resolution has been reduced by the resolution reduction unit.
  • the information processing device according to any one of (1) to (6).
  • the voxelization unit voxels each frame of the point cloud generated by the point cloud generation unit. ⁇ 2020/175176 52 ⁇ (: 171-1?2020/005726
  • the information processing device according to any one of (1) to (7).
  • the information processing apparatus according to any one of (1) to (8).
  • a playback unit is further provided for playing back the point cloud that has been voxelized by the voxelization unit.
  • the information processing device according to any one of (1) to (9).
  • (1 1) further comprising a transmitter that transmits the point cloud that has been voxelized by the voxelizer
  • the information processing device according to any one of (I) to (10).
  • the transmitting unit further transmits poxel grid information, which is information regarding the poxel grid used for the poxelization of the point cloud by the poxelization unit.
  • (1 3) further comprising a storage unit that stores the point cloud that has been voxelized by the voxelization unit
  • the information processing device according to any one of (1) to (12).
  • the storage unit further stores poxel grid information, which is information about the poxel grid used for the voxelization of the point cloud by the voxelization unit.
  • a point cloud that represents a three-dimensional object as a dynamic point cloud in a predetermined time range is represented by a static point cloud representation in the time range, for each frame, and a voxel corresponding to the frame. Voxeling with grid
  • a merge processing unit that generates a merged frame by merging a plurality of the voxelized frames using different voxel grids.
  • a playback unit that plays back the merge frame generated by the merge processing unit
  • a playback device including.
  • the merge processing unit merges two consecutive frames of the point cloud that have been voxelized to generate the merge frame.
  • the merge processing unit merges a plurality of the frames based on the voxel grid information that is information about the voxel grid used for voxelization of each frame of the point cloud.
  • the merge processing unit generates the merged frame by merging a plurality of frames of the point cloud generated by the decoding unit.
  • a point cloud that represents a three-dimensional object as a dynamic point cloud in a predetermined time range is stored in the frame for each frame that is a static point cloud representation in the time range.
  • a playback unit that plays back the point cloud that has been voxelized by the voxelization unit
  • a playback device including.
  • the voxelization unit voxels each frame of the point cloud using a voxel grid at a position corresponding to the frame
  • the voxelization unit voxels each frame of the point cloud by sequentially and repeatedly using voxel grids at a plurality of types of positions.
  • the positions of the plurality of types of the voxel grid are displaced from each other in the X and X directions of the space by one of the number of types of positions of the voxel grid, which are the voxel size.
  • the voxelization unit alternates each frame of the point cloud with voxel grids at two different positions that are offset from each other by 1 ⁇ 2 of the voxel size in each direction of X,, and in the space. Use to voxel
  • the image processing system further includes a resolution reducing unit that reduces the resolution of the point cloud
  • the voxelization unit voxels each frame of the point cloud whose resolution has been reduced by the resolution reduction unit.
  • the voxelization unit voxels each frame of the point cloud generated by the point cloud generation unit.
  • (29) further comprising a 3B data generation unit for generating 30 data of the object at predetermined time intervals in the time range,
  • the point cloud generation unit generates the frame of the point cloud corresponding to the 3B data at each time generated by the 30 data generation unit,
  • the voxelization unit voxels each frame of the point cloud generated by the point cloud generation unit.
  • a point cloud that represents a three-dimensional object as a dynamic point cloud in a predetermined time range is represented by a voxel grid corresponding to the frame for each frame that is a static point cloud representation in the time range.
  • Poxelization processor 201 Poxel grid control block, 202 Poxelization block, 203 Low resolution block, 204 30 Data generation block, 205 Point cloud generation block, 206 Coding block, 220 playback device, 22 1 Reproduction block , 240 transmitter, 24 1 transmitter, 2 60 storage device, 26 1 storage unit, 300 playback device, 301 merge control unit, 302 merge processing unit, 303 playback unit, 304 and 3 05 reception unit, 306 decoding unit

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Abstract

La présente invention concerne un dispositif de traitement d'informations et un procédé et un dispositif de reproduction et un procédé qui peuvent supprimer une réduction de la qualité d'image subjective. Un nuage de points représente un objet de forme 3D en tant que groupe de points dynamique dans une plage de temps prescrite et, pour chaque trame parmi de multiples trames qui sont des représentations de groupe de points statique dans la plage de temps prescrite, le nuage de points est soumis à une voxelisation à l'aide d'une grille de voxels qui est conforme à de telles trames. La présente invention peut être appliquée, par exemple, à un dispositif de traitement d'informations, un dispositif de traitement d'image, un dispositif de reproduction, un dispositif d'envoi, un dispositif de réception, un dispositif de communication, un dispositif de stockage, un appareil électronique, un procédé de traitement d'informations, un procédé de reproduction ou un programme.
PCT/JP2020/005726 2019-02-28 2020-02-14 Dispositif et procédé de traitement d'informations et dispositif et procédé de reproduction WO2020175176A1 (fr)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021158974A1 (fr) * 2020-02-06 2021-08-12 Pcms Holdings, Inc. Amélioration de nuages de points 3d avec mesures multiples

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018074419A1 (fr) * 2016-10-21 2018-04-26 株式会社ソニー・インタラクティブエンタテインメント Dispositif de traitement d'informations
WO2018235744A1 (fr) * 2017-06-22 2018-12-27 株式会社ソニー・インタラクティブエンタテインメント Dispositif de traitement d'informations, procédé de commande et programme

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018074419A1 (fr) * 2016-10-21 2018-04-26 株式会社ソニー・インタラクティブエンタテインメント Dispositif de traitement d'informations
WO2018235744A1 (fr) * 2017-06-22 2018-12-27 株式会社ソニー・インタラクティブエンタテインメント Dispositif de traitement d'informations, procédé de commande et programme

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021158974A1 (fr) * 2020-02-06 2021-08-12 Pcms Holdings, Inc. Amélioration de nuages de points 3d avec mesures multiples

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